Robot joint with dynamic seal structure and its application to a quadruped robot

Abstract

The robot joint with a dynamic seal structure of this utility model includes a power unit housing (1) and an output shaft (2) that rotates relative to the power unit housing (1). A soft and hard composite seal ring is provided between the power unit housing (1) and the output shaft (2). The soft first seal ring (5) fits tightly against the joint to effectively seal the rotary joint, while the hard second seal ring (6) slides against the joint while sealing the joint, reducing interference with joint movement. This utility model also discloses a quadruped robot incorporating a robot joint with a dynamic seal structure. By butting together two seal rings with different hardness, a dynamic seal structure is formed that seals the joint while maintaining normal joint movement, effectively preventing rainwater, dust, and other contaminants from entering the joint, further protecting the robot's joint.

Description

[Technical field]

[0001] Books invention The present invention relates to the technical field of robot devices, and in particular to a robot joint having a dynamic seal structure and a quadruped robot to which the same is applied. [Background technology]

[0002] Currently, robots can replace humans in performing tasks such as security inspections and on-site rescue exploration. In carrying out the above tasks, robots will inevitably encounter harsh environments such as dust and rainwater. These dust and rainwater are likely to get into the robot's joints, causing wear on the joints and preventing it from working normally. Summary of the Invention [Problem to be solved by the invention]

[0003] If the existing seal ring is installed as it is, it will have a large friction resistance and a short lifespan, which will affect the normal movement of the joint. Therefore, there is an urgent need for a robot joint seal structure that can effectively prevent dust, rainwater, etc. from the external environment from entering the inside of the joint without affecting the normal movement of the joint. [Means for solving the problem]

[0004] In order to overcome the shortcomings of the prior art, invention One of the objects of the present invention is to provide a robot joint which is provided with a composite seal ring made of soft and hard materials, and which has two seal rings of different hardness butted together to form a dynamic seal structure for sealing the joint while maintaining normal movement of the joint, which has low sliding friction, high adaptability to wear during use of the seal ring, and high resistance to fluctuations in joint load, which can effectively prevent rainwater, dust, etc. from entering the inside of the joint, and which can also protect the joint of the robot.

[0005] Books inventionAnother object of the present invention is to provide a four-legged robot having a dynamic joint seal structure at the joints, which can effectively prevent rainwater, dust, etc. from entering the inside of the joints and protect the joints of the four-legged robot.

[0006] In order to achieve one of the above objectives, invention The first technical solution is as follows:

[0007] A robot joint having a dynamic seal structure includes a power unit housing and an output shaft that rotates relative to the power unit housing, and a dynamic seal assembly is provided between the power unit housing and the output shaft. The dynamic seal assembly includes a first seal ring and a second seal ring that abut and remain relatively stationary in sealing relation to one another; The first seal ring has a higher coefficient of friction than the second seal ring, the second seal ring has a higher structural strength than the first seal ring, and the second seal ring has a smaller friction force and lower wear.

[0008] one of the power unit housing and the output shaft directly or indirectly contacts a first seal ring, and the other directly or indirectly contacts a second seal ring in a slidable manner; When the first seal ring is pressed, it deforms to generate a preliminary clamping force, and the dynamic seal assembly directly or indirectly abuts against the power unit housing and the output shaft, respectively, to form a dynamic seal structure that seals the joint while maintaining normal movement of the joint. The second seal ring has high adaptability to wear during use and high resistance to joint load fluctuations.

[0009] Books invention After continuous research and testing, a soft and hard composite seal ring is provided, in which the first soft seal ring fits tightly against the joint and effectively seals the rotary joint, and the second hard seal ring slides against the joint while sealing the joint, reducing the obstruction to joint movement, which is a simple, practical and original solution. invention In this system, two seal rings with different hardness are butted together to form a dynamic joint seal structure that seals the joint while maintaining normal movement of the joint, effectively preventing rainwater, dust, etc. from entering the inside of the joint and further protecting the robot's joint.

[0010] The preferred technical solution is: The first seal ring is made of an elastic material such as, but not limited to, rubber or silicone, and the material of the second seal ring includes, but is not limited to, ceramic, plastic or metal, which has low manufacturing cost and is suitable for wide use.

[0011] The preferred technical solution is: The robot joint further includes a gland, the gland being fixed to a side surface of the power unit housing close to the output shaft, and the second seal ring being in slidable close contact with the power unit housing, the gland, or the output shaft under pressure from the first seal ring.

[0012] The preferred technical solution is: An annular groove is provided on a surface of the second seal ring that comes into contact with the power unit housing, the gland, or the output shaft, and the annular groove is filled with lubricating oil.

[0013] Books invention In the above, by providing an annular groove, the inside of the second seal ring is filled with lubricating oil, reducing the frictional resistance during rotation of the second seal ring and reducing the obstacle to the rotation of the joint member while providing a waterproof effect. On the other hand, by providing an annular groove, a large deformation space is left for the second seal ring, which fits more closely to the gland or the output shaft and provides a better waterproof effect.

[0014] The preferred technical solution is: A third seal ring is provided between the gland and the power unit housing to further improve the waterproof and dustproof effect.

[0015] A dustproof layer is provided at the boundary between the output shaft, the gland, and the power unit housing to prevent dust, stones, etc. from entering the inside of the joint, particularly between the gland and the output shaft, which rotate relative to each other, through a gap and causing wear of the parts in the joint.

[0016] As a preferred technical solution, the robot joint further comprises a joint connector, the joint connector is fixedly connected to the output shaft, and a fourth seal ring is provided between the two to further improve its waterproof and dustproof effect.

[0017] The preferred technical solution is: An end cap is provided on a side of the power unit housing, and a fifth seal ring is provided between the power unit housing and the end cap. The connection between the end cap and the power unit housing directly communicates with the inside of the power unit, and the fifth seal ring is provided here to prevent external dust, rainwater, etc. from entering the inside of the power unit.

[0018] In order to achieve one of the above objectives, invention The second technical solution is as follows:

[0019] The robotic joint having a dynamic seal structure includes a dynamic seal assembly, the dynamic seal assembly includes a first seal ring and a second seal ring; a coefficient of friction of the first seal ring is greater than a coefficient of friction of the second seal ring, and the second seal ring has a greater structural strength than the first seal ring; When the first seal ring is pressed, it deforms to form a dynamic seal structure that can seal the joint while maintaining normal movement of the joint.

[0020] Books inventionAfter continuous research and testing, we have come up with a joint dynamic seal structure that uses two sealing rings with different hardness to seal the joint while maintaining normal movement of the joint, effectively preventing rainwater, dust, etc. from entering the joint, and further protecting the robot's joint.

[0021] In addition, invention In the present invention, a composite seal ring made of soft and hard materials is provided, in which the first soft seal ring fits closely to the joint and effectively seals the rotary joint, and the second hard seal ring slides against the joint while sealing the joint to reduce interference with joint movement, which is a simple, practical and ingenious solution.

[0022] The preferred technical solution is: The engine further includes a power unit housing and an output shaft that rotates relative to the power unit housing, and the dynamic seal assembly is provided between the power unit housing and the output shaft. one of the power unit housing and the output shaft directly or indirectly contacts a first seal ring, and the other directly or indirectly contacts a second seal ring in a slidable manner; When the first seal ring is pressed, it deforms to generate a pre-clamping force, and the dynamic seal assembly directly or indirectly abuts the power unit housing and the output shaft, respectively.

[0023] Books invention The structure is simple and practical, easy to implement, and low manufacturing cost.

[0024] In order to achieve another of the above objectives, invention The technical solutions are as follows:

[0025] The quadruped robot is equipped with a robot joint having the dynamic seal structure described above.

[0026] Books inventionIn the quadruped robot provided by the company, the above-mentioned dynamic seal structure is provided at the joints, and a dynamic seal assembly is provided between the power unit housing and the output shaft, which rotate relatively, to effectively prevent rainwater, dust, etc. from the external environment from entering the inside of the power unit through gaps during rotation, which would cause the power unit to wear out or be damaged, and this is a practical, original solution with a simple structure. Effect of the Invention

[0027] Books invention After continuous research and testing, a composite seal ring made of soft and hard materials is provided. By butting together two seal rings with different hardness, a dynamic seal structure is formed that seals the joint while maintaining normal movement of the joint. The dynamic seal structure has small sliding friction, high adaptability to wear of the seal ring during use, and high resistance to fluctuations in joint load. This effectively prevents rainwater or dust from the external environment from entering the power unit through the gaps during rotation, causing wear and tear on the power unit, and also protects the joints of the robot.

[0028] In addition, invention In the quadruped robot provided by the company, a dynamic seal structure is provided at the joints, and a dynamic seal assembly is provided between the power unit housing and the output shaft, which rotate relatively, thereby reducing sliding friction, improving adaptability to wear of the seal ring during use, and increasing resistance to joint load fluctuations. It also effectively prevents rainwater or dust from the external environment from entering the power unit through gaps during rotation, causing the power unit to wear out or be damaged, and is a practical and original solution with a simple structure. [Brief description of the drawings]

[0029] [Figure 1] FIG. 2 is an exploded view of the present invention. [Diagram 2] FIG. 1 is an overall cross-sectional view of the present invention. [Diagram 3] FIG. [Explanation of symbols]

[0030] 1 Power unit housing 11 Grand 2 Output shaft 3 Joint Connector 4 End Cap 5 First Seal Ring 6 Second seal ring 61 Circular groove 7 3rd Seal Ring 8 4th Seal Ring 9 5th Seal Ring 10 Dustproof layer DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] Hereinafter, the present invention will be described with reference to the accompanying drawings and specific embodiments. invention It should be noted that, unless mutually inconsistent, any combination of the embodiments or technical features described below may be used to form a new embodiment.

[0032] Unless otherwise defined, all technical and scientific terms used herein are understood to be invention The terms described in this specification are used only for the purpose of describing specific examples, and have the same meaning as commonly understood by those skilled in the art. invention It is not intended to be limiting.

[0033] As shown in Figures 1 to 3, a robot joint having a dynamic seal structure includes a power unit housing 1 and an output shaft 2 that rotates relative to the power unit housing 1, and a dynamic seal assembly is provided between the power unit housing 1 and the output shaft 2.

[0034] The dynamic seal assembly includes a first seal ring 5 and a second seal ring 6 which abut and remain relatively stationary in sealing relation to one another.

[0035] The first seal ring 5 has a greater coefficient of friction than the second seal ring 6 , and the second seal ring 6 has a greater structural strength than the first seal ring 5 .

[0036] One of the power unit housing 1 and the output shaft 2 directly or indirectly abuts on a first seal ring 5, and the other directly or indirectly contacts a second seal ring 6 so as to be capable of sliding therewith.

[0037] When the first seal ring 5 is pressed, it deforms to generate a pre-clamping force, and the dynamic seal assemblies directly or indirectly abut against the power unit housing 1 and the output shaft 2, respectively, to form a dynamic seal structure that seals the joint while maintaining normal movement of the joint.

[0038] Books invention After continuous research and testing, a soft and hard composite seal ring is provided, in which the soft first seal ring 5 fits closely to the joint and effectively seals the rotary joint, and the hard second seal ring 6 slides against the joint while sealing the joint, reducing the obstruction to joint movement, which is a simple, practical and original solution. invention In this system, two seal rings with different hardness are butted together to form a dynamic joint seal structure that seals the joint while maintaining normal movement of the joint, effectively preventing rainwater, dust, etc. from entering the inside of the joint and further protecting the robot's joint.

[0039] Books invention Specific examples of the material of the seal ring are as follows:

[0040] The first seal ring 5 is made of an elastic material such as, but not limited to, rubber or silicone, and the material of the second seal ring 6 includes, but is not limited to, ceramic, plastic or metal, which has low manufacturing cost and is suitable for wide use.

[0041] Books inventionA specific example of providing the ground 11 structure is as follows.

[0042] The robot joint further comprises a gland 11, the gland 11 being fixed to the side of the power unit housing 1 close to the output shaft 2, and the second seal ring 6 being slidably fitted in close contact with the unit housing, the gland 11 or the output shaft 2 under the pressure of the first seal ring 5.

[0043] Books invention A specific embodiment in which the annular groove 61 is added is as follows.

[0044] An annular groove 61 is provided on a surface of the second seal ring 6 that comes into contact with the power unit housing 1, the gland 11, or the output shaft 2, and the annular groove 61 is filled with lubricating oil.

[0045] Books invention In this case, by providing the annular groove 61, its interior is filled with lubricating oil, reducing the frictional resistance during rotation of the second seal ring 6 and reducing obstacles to the rotation of the joint member while at the same time providing a waterproof effect. On the other hand, by providing the annular groove 61, a large deformation space is left for the second seal ring 6, which allows it to fit more closely to the gland 11 or the output shaft 2 and provides a better waterproof effect.

[0046] Books invention A specific example in which the third seal ring 7 is added is as follows.

[0047] By providing a third seal ring 7 between the gland 11 and the power unit housing 1, the waterproof and dustproof effects are further improved.

[0048] A dustproof layer 10 is provided at the boundary between the output shaft 2, the gland 11, and the power unit housing 1. The dustproof layer 10 prevents dust, stones, etc. from entering through gaps into the inside of the joint, particularly between the gland 11 and the output shaft 2 which rotate relative to each other, and causing wear of the parts in the joint.

[0049] Books invention A specific example of adding the fourth seal ring 8 is as follows.

[0050] The robot joint further comprises a joint connector 3, which is fixedly connected to the output shaft 2, and a fourth seal ring 8 is provided between them to further improve the waterproof and dustproof effects.

[0051] Books invention A specific example of adding the fifth seal ring 9 is as follows.

[0052] An end cap 4 is provided on a side of the power unit housing 1, and a fifth seal ring 9 is provided between the power unit housing 1 and the end cap 4. The connection portion between the end cap 4 and the power unit housing 1 directly communicates with the inside of the power unit, and by providing the fifth seal ring 9 here, it is possible to prevent external dust, rainwater, etc. from entering the inside of the power unit.

[0053] Books invention An example of application of a robot joint having the dynamic seal structure is as follows.

[0054] The quadruped robot is equipped with a robot joint having the dynamic seal structure described above.

[0055] The above embodiment is invention This is merely a preferred embodiment of the present invention. invention This does not limit the scope of protection of the present invention, and a person skilled in the art will understand this invention. invention All non-substantial changes and substitutions made hereunder shall invention is included in the scope of protection.

Claims

1. The engine comprises a power unit housing (1) and an output shaft (2) that rotates relative to the power unit housing (1), and a dynamic seal assembly is provided between the power unit housing (1) and the output shaft (2); The dynamic seal assembly includes a composite seal ring having two seal rings of different hardnesses butted against each other in an axial direction so as to be in contact with each other and to be kept relatively stationary and sealed; The composite seal ring comprises a first seal ring (5) and a second seal ring (6), The coefficient of friction of the first seal ring (5) is greater than the coefficient of friction of the second seal ring (6), and the second seal ring (6) has a higher structural strength than the first seal ring (5); One of the power unit housing (1) and the output shaft (2) directly or indirectly contacts a first seal ring (5), and the other directly or indirectly contacts a second seal ring (6) in a slidable manner; a dynamic seal structure that can seal the joint and maintain normal motion of the joint, wherein the first seal ring (5) is deformed when pressed to generate a pre-clamping force, and the dynamic seal assemblies directly or indirectly abut against the power unit housing (1) and the output shaft (2), respectively.

2. The robot joint with dynamic seal structure according to claim 1, characterized in that the first seal ring (5) is made of an elastic material, and the material of the second seal ring (6) is ceramic, plastic or metal.

3. 3. The robot joint having a dynamic seal structure according to claim 2, further comprising a gland (11), the gland (11) being fixed to a side of the power unit housing (1) close to the output shaft (2), and the second seal ring (6) slidably contacting the power unit housing (1), the gland (11) or the output shaft (2) under pressure from the first seal ring (5).

4. 4. A robot joint having a dynamic seal structure according to claim 3, characterized in that an annular groove (61) is provided on a surface of the second seal ring (6) that abuts against the power unit housing (1), the gland (11), or the output shaft (2), and the annular groove (61) is filled with lubricating oil.

5. 5. A robot joint having a dynamic seal structure according to claim 4, characterized in that a third seal ring (7) is provided between the gland (11) and the power unit housing (1).

6. The robot joint having a dynamic seal structure according to any one of claims 1 to 5, characterized in that the robot joint further comprises a joint connector (3), the joint connector (3) being fixedly connected to the output shaft (2), and a fourth seal ring (8) being provided therebetween.

7. The robot joint having a dynamic seal structure according to claim 6, characterized in that an end cap (4) is fixed to a side of the power unit housing (1), and a fifth seal ring (9) is provided between the power unit housing (1) and the end cap (4).

8. A dynamic seal assembly is provided. The dynamic seal assembly includes a composite seal ring having two seal rings of different hardnesses butted against each other in an axial direction so as to be in contact with each other and to be kept relatively stationary and sealed; The composite seal ring comprises a first seal ring (5) and a second seal ring (6), The coefficient of friction of the first seal ring (5) is greater than the coefficient of friction of the second seal ring (6), and the second seal ring (6) has a higher structural strength than the first seal ring (5); A robot joint having a dynamic seal structure, wherein the first seal ring (5) is deformed when pressed to form a dynamic seal structure capable of sealing the joint while maintaining normal movement of the joint.

9. The engine further comprises a power unit housing (1) and an output shaft (2) that rotates relative to the power unit housing (1), and the dynamic seal assembly is provided between the power unit housing (1) and the output shaft (2); One of the power unit housing (1) and the output shaft (2) directly or indirectly contacts a first seal ring (5), and the other directly or indirectly contacts a second seal ring (6) in a slidable manner; 9. The robot joint having a dynamic seal structure according to claim 8, characterized in that the first seal ring (5) is deformed when pressed to generate a pre-clamping force, and the dynamic seal assembly abuts directly or indirectly against the power unit housing (1) and the output shaft (2), respectively.

10. A quadruped robot comprising a robot joint having the dynamic seal structure according to any one of claims 1 to 9.

Images